From 55010eda5bae83e42f913d45c8824f0b3dd2a1d2 Mon Sep 17 00:00:00 2001
From: rusefi <arro239+rusefi@gmail.com>
Date: Thu, 25 May 2017 08:49:04 -0400
Subject: [PATCH] refactoring

---
 firmware/controllers/idle_thread.cpp | 17 ++++-------------
 firmware/controllers/math/pid.cpp    | 11 +++++++++++
 firmware/controllers/math/pid.h      |  4 ++++
 3 files changed, 19 insertions(+), 13 deletions(-)

diff --git a/firmware/controllers/idle_thread.cpp b/firmware/controllers/idle_thread.cpp
index 5569d8d57a..9fa6ee142d 100644
--- a/firmware/controllers/idle_thread.cpp
+++ b/firmware/controllers/idle_thread.cpp
@@ -61,16 +61,6 @@ void idleDebug(const char *msg, percent_t value) {
 	scheduleMsg(logger, "idle debug: %s%f", msg, value);
 }
 
-static void showPidSettings(const char*msg, pid_s *pid) {
-	scheduleMsg(logger, "%s o=%f P=%.5f I=%.5f D=%.5f dT=%d",
-			msg,
-			pid->offset,
-			pid->pFactor,
-			pid->iFactor,
-			pid->dFactor,
-			engineConfiguration->idleDT);
-
-}
 
 static void showIdleInfo(void) {
 	const char * idleModeStr = getIdle_mode_e(engineConfiguration->idleMode);
@@ -91,7 +81,7 @@ static void showIdleInfo(void) {
 
 
 	if (engineConfiguration->idleMode == IM_AUTO) {
-		showPidSettings("idle", &engineConfiguration->idleRpmPid);
+		idlePid.showPidStatus(logger, "idle", engineConfiguration->idleDT);
 	}
 }
 
@@ -172,7 +162,7 @@ static float autoIdle(float cltCorrection) {
 
 	adjustedTargetRpm = engineConfiguration->targetIdleRpm * cltCorrection;
 
-	percent_t newValue = idlePid.getValue(adjustedTargetRpm, getRpmE(engine));
+	percent_t newValue = idlePid.getValue(adjustedTargetRpm, getRpmE(engine), engineConfiguration->idleDT);
 
 	return newValue;
 }
@@ -188,6 +178,7 @@ static msg_t ivThread(int param) {
 	 */
 
 	while (true) {
+		// todo: in auto mode, speel should be taken from idleDTe
 		chThdSleepMilliseconds(boardConfiguration->idleThreadPeriod);
 
 		// this value is not used yet
@@ -236,7 +227,7 @@ static msg_t ivThread(int param) {
 		}
 
 		if (engineConfiguration->isVerboseIAC && engineConfiguration->idleMode == IM_AUTO) {
-			showPidSettings("idle", &engineConfiguration->idleRpmPid);
+			idlePid.showPidStatus(logger, "idle",engineConfiguration->idleDT);
 			scheduleMsg(logger, "rpm=%d/%d position=%f iTerm=%.5f dTerm=%.5f",
 					getRpmE(engine),
 					adjustedTargetRpm,
diff --git a/firmware/controllers/math/pid.cpp b/firmware/controllers/math/pid.cpp
index 30a6c8e553..6b91e38adc 100644
--- a/firmware/controllers/math/pid.cpp
+++ b/firmware/controllers/math/pid.cpp
@@ -113,3 +113,14 @@ void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) {
 	tsOutputChannels->debugFloatField6 = dTerm;
 }
 #endif
+
+void Pid::showPidStatus(Logging *logging, const char*msg, int dTime) {
+	// todo: dTime should be taken from pid_s
+	scheduleMsg(logging, "%s o=%f P=%.5f I=%.5f D=%.5f dT=%d",
+			msg,
+			pid->offset,
+			pid->pFactor,
+			pid->iFactor,
+			pid->dFactor,
+			dTime);
+}
diff --git a/firmware/controllers/math/pid.h b/firmware/controllers/math/pid.h
index 9193e4aac3..2837ca5ee1 100644
--- a/firmware/controllers/math/pid.h
+++ b/firmware/controllers/math/pid.h
@@ -10,6 +10,8 @@
 
 #include "global.h"
 #include "engine_configuration_generated_structures.h"
+#include "datalogging.h"
+
 #if EFI_PROD_CODE || EFI_SIMULATOR
 #include "tunerstudio_configuration.h"
 #endif
@@ -23,6 +25,7 @@ public:
 	bool isSame(pid_s *pid);
 
 	float getValue(float target, float input);
+	// todo: dTime should be taken from pid_s
 	float getValue(float target, float input, float dTime);
 	void updateFactors(float pFactor, float iFactor, float dFactor);
 	void reset(void);
@@ -39,6 +42,7 @@ public:
 	float maxResult;
 	float iTerm;
 	float dTerm; // we are remembering this only for debugging purposes
+	void showPidStatus(Logging *logging, const char*msg, int dTime);
 private:
 	pid_s *pid;